#include <nejihebi.h>

Inheritance diagram for Nejihebi:

Collaboration diagram for Nejihebi:

Classes
struct	Conf
	Struct containing all the configuration options for the nejihebi robot. More...

Public Member Functions
	Nejihebi (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const Conf &conf=getDefaultConf(), const std::string &name="ScrewDriveSnake")
	Constructor. More...

virtual	~Nejihebi ()
	Destructor. More...

const Conf &	getConf () const
	Returns the current configuration of the robot. More...

Inspectable::iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

Inspectable::iparamvallist	getInternalParams () const

virtual Primitive *	getMainPrimitive () const
	Returns main primitive of the robot. More...

virtual int	getMotorNumberIntern ()
	Returns number of motors. More...

virtual int	getSensorNumberIntern ()
	Returns number of sensors. More...

virtual int	getSensorsIntern (sensor *sensors, int sensornumber)
	Returns current sensor values. More...

void	nameMotor (const int motorNo, const std::string &name)
	Assigns a name to a motor. More...

void	nameSensor (const int sensorNo, const std::string &name)
	Assigns a name to sensor. More...

virtual void	placeIntern (const osg::Matrix &pose)
	Sets the pose of the vehicle. More...

virtual void	setMotorsIntern (const double *motors, int motornumber)
	Sets current motorcommands. More...

Public Member Functions inherited from OdeRobot
	OdeRobot (const OdeHandle &odeHandle, const OsgHandle &osgHandle, const std::string &name, const std::string &revision)
	Constructor. More...

virtual	~OdeRobot ()
	calls cleanup() More...

virtual int	getSensors (double *sensors, int sensornumber) final
	returns actual sensorvalues More...

virtual void	setMotors (const double *motors, int motornumber) final
	sets actual motorcommands More...

virtual int	getSensorNumber () final
	returns number of sensors More...

virtual int	getMotorNumber () final
	returns number of motors More...

virtual std::list < SensorMotorInfo >	getSensorInfos () override
	returns the information for the sensors. More...

virtual std::list < SensorMotorInfo >	getMotorInfos () override
	returns the information for the motors. More...

virtual void	addSensor (std::shared_ptr< Sensor > sensor, Attachment attachment=Attachment())
	adds a sensor to the robot. More...

virtual void	addMotor (std::shared_ptr< Motor > motor, Attachment attachment=Attachment())
	adds a motor to the robot. More...

virtual std::list < SensorAttachment >	getAttachedSensors ()
	returns all generic sensors with their attachment More...

virtual std::list < MotorAttachment >	getAttachedMotors ()
	returns all generic motors with their attachment More...

virtual void	addTorqueSensors (double maxtorque=1.0, int avg=1)
	adds a torque sensor to each joint. Call it after placement of robot. More...

virtual void	update ()
	update the OSG notes here, if overwritten, call OdeRobot::update()! More...

virtual void	place (const Pos &pos) final
	sets the vehicle to position pos More...

virtual void	place (const osg::Matrix &pose) final
	sets the pose of the vehicle More...

virtual bool	collisionCallback (void *data, dGeomID o1, dGeomID o2)

virtual void	sense (GlobalData &globalData)
	this function is called each controlstep before control. More...

virtual void	doInternalStuff (GlobalData &globalData)
	this function is called in each simulation timestep (always after control). More...

virtual void	setColor (const Color &col)
	sets color of the robot More...

virtual Position	getPosition () const
	returns position of the object More...

virtual Position	getSpeed () const
	returns linear speed vector of the object More...

virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object More...

virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object More...

virtual Primitives	getAllPrimitives () const
	returns a list of all primitives of the robot (used to store and restore the robot) More...

virtual Primitives &	getAllPrimitives ()

virtual Joints	getAllJoints () const
	returns a list of all primitives of the robot (const version) (used to store and restore the robot) More...

virtual Joints &	getAllJoints ()

virtual bool	store (FILE *f) const
	returns a list of all joints of the robot (const version) More...

virtual bool	restore (FILE *f)
	loads the object from the given file stream (ASCII preferred). More...

virtual void	moveToPosition (Pos pos=Pos(0, 0, 0.5), int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new postion (keep current pose). More...

virtual void	moveToPose (Pose pose, int primitiveID=-1)
	relocates robot such its primitive with the given ID is at the new pose (keep relative pose of all primitives). More...

virtual Pose	getInitialPose ()
	returns the initial pose of the main primitive (use it e.g. with moveToPose) More...

virtual Pose	getRelativeInitialPose ()
	returns the initial relative pose of the main primitive (use it with moveToPose to further translate or rotate). More...

virtual void	fixate (GlobalData &global, int primitiveID=-1, double duration=0)
	fixates the given primitive of the robot at its current position to the world for a certain time. More...

virtual bool	unFixate (GlobalData &global)
	release the robot in case it is fixated and return true in this case More...

Public Member Functions inherited from AbstractRobot
	AbstractRobot (const std::string &name="abstractRobot", const std::string &revision="$ID$")
	Constructor. More...

virtual	~AbstractRobot ()

virtual std::string	getTrackableName () const
	returns name of trackable More...

Public Member Functions inherited from Trackable
	Trackable ()
	Constructor. More...

virtual	~Trackable ()

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Public Member Functions inherited from Storeable
virtual	~Storeable ()

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Public Member Functions inherited from Inspectable
	Inspectable (const iparamkey &name="")
	TYPEDEFS END. More...

virtual	~Inspectable ()

virtual iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored More...

virtual ilayerlist	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual iconnectionlist	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...

virtual void	addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableDescription (const iparamkey &key, const std::string &descr)
	adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...

virtual void	addInfoLine (std::string infoLine)
	Adds an info line to this inspectable instance. More...

virtual void	addInfoLines (std::list< std::string > infoLineList)
	Adds a bunch of infolines with addInfoLine to this inspectable instance. More...

virtual void	removeInfoLines ()
	Removes all infolines from this inspectable instance. More...

virtual const infoLinesList &	getInfoLines () const
	Returns all infolines added to this inspectable instance. More...

virtual void	addInspectable (Inspectable *insp)
	Adds an inspectable as a child object. More...

virtual void	removeInspectable (Inspectable *insp)
	Removes an inspectable as a child object. More...

virtual void	setNameOfInspectable (const iparamkey &name)
	set the name of the inspectable More...

virtual const iparamkey	getNameOfInspectable () const
	return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...

virtual const inspectableList &	getInspectables () const
	Returns the list containing all inspectable children. More...

Static Public Member Functions
static Conf	getDefaultConf ()
	Returns default configuration. More...

Additional Inherited Members
Public Types inherited from AbstractRobot
typedef double	sensor

typedef double	motor

Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Public Types inherited from Inspectable
typedef std::string	iparamkey

typedef double	iparamval

typedef std::pair< iparamkey, iparamval const * >	iparampair

typedef std::pair< iparamkey, std::pair< const matrix::Matrix *, bool > >	imatrixpair

typedef std::list< iparamkey >	iparamkeylist

typedef std::list< std::string >	infoLinesList

typedef std::list< iparamval >	iparamvallist

typedef std::list< iparamval const * >	iparamvalptrlist

typedef std::list< iparampair >	iparampairlist

typedef std::list< imatrixpair >	imatrixpairlist

typedef struct Inspectable::ILayer	ILayer

typedef struct Inspectable::IConnection	IConnection

typedef std::list< ILayer >	ilayerlist

typedef std::list< IConnection >	iconnectionlist

typedef std::list< const Inspectable * >	inspectableList

Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Protected Member Functions inherited from OdeRobot
void	attachSensor (SensorAttachment &sa)

void	attachMotor (MotorAttachment &ma)

virtual void	cleanup ()
	deletes all objects (primitives) and joints (is called automatically in destructor) More...

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Static Protected Member Functions inherited from OdeRobot
static bool	isGeomInPrimitiveList (Primitive **ps, int len, dGeomID geom)

static bool	isGeomInPrimitiveList (std::list< Primitive * > ps, dGeomID geom)

Protected Attributes inherited from OdeRobot
Primitives	objects
	list of objects (should be populated by subclasses) More...

Joints	joints
	list of joints (should be populated by subclasses) More...

std::list< SensorAttachment >	sensors

std::list< MotorAttachment >	motors

TmpJoint *	fixationTmpJoint

Pose	initialPose

Pose	initialRelativePose

OdeHandle	odeHandle

OsgHandle	osgHandle

dSpaceID	parentspace

bool	initialized

bool	askedfornumber

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Detailed Description

Nejihebi Robot.

This is a snake-like robot with screw drive mechanism as developed at the Matsuno Lab in Kyoto, Japan. For details on the real robot see:

Fukushima et al: Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism. IEEE Transactions on Robotics 28(3), 2012.

Constructor & Destructor Documentation

Nejihebi	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle,
		const Conf &	conf = `getDefaultConf()`,
		const std::string &	name = `"ScrewDriveSnake"`
	)

Constructor.

Parameters

odeHandle	data structure for accessing ODE
osgHandle	data structure for accessing OSG
conf	configuration object
name	name to display for this robot

~Nejihebi ( )

virtual

Destructor.

Member Function Documentation

const Nejihebi::Conf & getConf ( ) const

Returns the current configuration of the robot.

Returns: current configuration

Nejihebi::Conf getDefaultConf ( )

static

Returns default configuration.

This method returns a configuration object with the default configuration for the robot which is supposed to be as close as possible to the real robot.

Returns: default configuration

Inspectable::iparamkeylist getInternalParamNames ( ) const

virtual

The list of the names of all internal parameters given by getInternalParams().

The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.

Returns: : list of keys

Reimplemented from Inspectable.

Inspectable::iparamvallist getInternalParams ( ) const

virtual

Returns: : list of values

Reimplemented from Inspectable.

Primitive * getMainPrimitive ( ) const

virtual

Returns main primitive of the robot.

This method returns the primitive of the robot that is used for tracking and camera following. For the Nejihebi robot that is the robot head object

Returns: pointer to the robot head primitive

Reimplemented from OdeRobot.

int getMotorNumberIntern ( )

virtual

Returns number of motors.

Returns: number of motors

Reimplemented from OdeRobot.

int getSensorNumberIntern ( )

virtual

Returns number of sensors.

Returns: number of sensors

Reimplemented from OdeRobot.

int getSensorsIntern	(	sensor *	sensors,
		int	sensornumber
	)

virtual

Returns current sensor values.

This method returns all the sensor values of the robot. They are scaled into the interval -1 to 1. Let N be the number of screws for the current robot object. Then the sensor values are as follows:

0 : rotation angle of first screw (foremost screw) [-pi, pi] ... N-1 : rotation angle of N-th screw (backmost screw) [-pi, pi] N : position of first yaw yoint (foremost joint) [-pi, pi] N+1 : angle velocity of first yaw joint [-maxVel, maxVel] N+2 : position of first pitch joint [-pi, pi] N+3 : angle velocity of first pitch joint [-maxVel, maxVel] N+4 : position of second yaw joint ... 5N-5 : angle velocity of last pitch joint

Parameters

sensors	sensor array to which the sensors scaled to [-1,1] will be written
sensornumber	length of the sensor array

Returns: number of actually written sensors

Reimplemented from OdeRobot.

void nameMotor	(	const int	motorNo,
		const std::string &	name
	)

Assigns a name to a motor.

This method assigns a human readable name to a motor. This name is used for the associated inspectable value of the wiring as used e.g. in guilogger.

Parameters

motorNo	index of the motor
name	human readable name for the motor

void nameSensor	(	const int	sensorNo,
		const std::string &	name
	)

Assigns a name to sensor.

This method assigns a human readable name to a sensor. This name is used for the associated inspectable value of the wiring as used e.g. in guilogger.

Parameters

sensorNo	index of the sensor
name	human readable name for the sensor

void placeIntern ( const osg::Matrix & pose )

virtual

Sets the pose of the vehicle.

Parameters

pose	desired pose matrix

Implements OdeRobot.

void setMotorsIntern	(	const double *	motors,
		int	motornumber
	)

virtual

Sets current motorcommands.

This method is used to deliver motor commands to the robots. If N is the number of screw elements of the robot then the meaning of the motor commands is as follows:

0 : goal speed for first screw (foremost screw) [-maxVel, maxVel] N-1 : goal speed for N-th screw (backmost screw) [-maxVel, maxVel] N : goal position for first yaw joint [-pi, pi] N+1 : goal position for first pitch joint [-pi, pi] N+2 : goal position for second yaw joint [-pi, pi] ... 3N-3 : goal position for last pitch joint [-pi, pi] 3N-2 : torque limit for first yaw joint [0:1] 3N-1 : torque limit for first pitch joint [0:1] 3N : torque limit for second yaw joint [0:1] ... 5N-5 : torque limit for last pitch joint [0:1]

Parameters

motors	motors scaled to [-1,1]
motornumber	length of the motor array

Reimplemented from OdeRobot.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation